RM36D0EC _58 Vehicle Interior _083101 PRE-COLLISION _0401880 PRE-COLLISION SYSTEM C

PRE-COLLISION PRE-COLLISION SYSTEM U023587 Lost Communication with Cruise Control Front Distance Range Sensor Missing Message

DESCRIPTION

The forward recognition camera is connected to the millimeter wave radar sensor assembly via the CAN communication line. When the signal from the millimeter wave radar sensor assembly is interrupted, the forward recognition camera outputs U023587.

DTC No.	Detection Item	DTC Detection Condition	Trouble Area
U023587	Lost Communication with Cruise Control Front Distance Range Sensor Missing Message	Once 3 seconds elapse after turning the ignition switch to ON, a communication malfunction between the millimeter wave radar sensor assembly continues for approximately 2 seconds or more.	· Local bus (Open or short) · Forward recognition camera · Millimeter wave radar sensor assembly

Pattern	DTC output part name (Display on GTS)		Suspected Area (Malfunction Status)
	Millimeter Wave Radar Sensor Assembly (Front Radar Sensor)	Forward Recognition Camera (Pre-Collision System)
	U010487	U023587
○: DTC is output -: DTC is not output
Pattern 1	○	○	Local bus (Open or short)
			Forward recognition camera (Internal malfunction)
			Millimeter wave radar sensor assembly (Internal malfunction)
Pattern 2	-	○	Forward recognition camera (Internal malfunction)
Pattern 2	-	○	Millimeter wave radar sensor assembly (Internal malfunction)

WIRING DIAGRAM

5.677,0.792 6.292,0.99 0.615,0.198 10 false CANH 5.677,1.448 6.292,1.646 0.615,0.198 10 false CANL 5.427,1.25 6.042,1.448 0.615,0.198 10 false 12 5.458,0.771 6.073,0.969 0.615,0.198 10 false 6 1.229,0.781 1.844,0.979 0.615,0.198 10 false CA1P 1.198,1.438 1.813,1.635 0.615,0.198 10 false CA1N 1.667,1.24 2.281,1.438 0.615,0.198 10 false 6 1.677,0.792 2.292,0.99 0.615,0.198 10 false 5 5.156,1.719 6.104,1.938 0.948,0.219 10 false P8 0.625,1.865 3.438,2.469 2.813,0.604 10 false Millimeter Wave Radar Sensor Assembly 0.615,1.708 1.604,1.927 0.99,0.219 10 false B9 5.156,1.875 7.01,2.292 1.854,0.417 10 false Forward Recognition Camera

CAUTION / NOTICE / HINT

NOTICE:

When replacing the millimeter wave radar sensor assembly, always replace it with a new one. If a millimeter wave radar sensor assembly which was installed to another vehicle is used, the information stored in the millimeter wave radar sensor assembly will not match the information from the vehicle and a DTC may be stored.

When the millimeter wave radar sensor assembly has been replaced with a new one, it is necessary to perform millimeter wave radar sensor assembly beam axis alignment and to clear the vehicle control history (RoB). Before performing the Driving Adjustment, make sure to read Before Starting Driving Adjustment.

HINT:: Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.; Triangle Target: Click hereEngine / Hybrid System>CRUISE CONTROL>MILLIMETER WAVE RADAR SENSOR>TARGET ADJUSTMENT(TRIANGLE TARGET)202304,202405,_51,_083055,_0401007,RM1000000029L6G,202405,202409,_51,_083055,_0401007,RM100000002ME7I,202409,999999,_51,_083055,_0401007,RM100000002NTD8,; Flat Surface Target: Click hereEngine / Hybrid System>CRUISE CONTROL>MILLIMETER WAVE RADAR SENSOR>TARGET ADJUSTMENT(FLAT SURFACE TARGET)202304,202405,_51,_083055,_0401007,RM1000000029L6H,202405,202409,_51,_083055,_0401007,RM100000002ME7K,202409,999999,_51,_083055,_0401007,RM100000002NTDA,; Driving Adjustment: Click hereEngine / Hybrid System>CRUISE CONTROL>MILLIMETER WAVE RADAR SENSOR>DRIVING ADJUSTMENT202304,202405,_51,_083055,_0401007,RM1000000029L6F,202405,202409,_51,_083055,_0401007,RM100000002ME7H,202409,999999,_51,_083055,_0401007,RM100000002NTD7,

When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle and a DTC may be stored.

When the forward recognition camera is replaced with a new one or the windshield glass is replaced or removed/installed, make sure to perform beam axis adjustment for the forward recognition camera and clear the vehicle control history for each system.

HINT:: Forward recognition camera axis alignment can be performed by using either One Time Recognition, Sequential Recognition or Driving Adjustment.; One Time Recognition: Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT CAMERA>TARGET ADJUSTMENT(ONE TIME RECOGNITION)202304,202405,_51,_083055,_0401005,RM1000000029L6A,202405,202409,_51,_083055,_0401005,RM100000002ME7B,202409,999999,_51,_083055,_0401005,RM100000002NTD0,; Sequential Recognition: Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT CAMERA>TARGET ADJUSTMENT(SEQUENTIAL RECOGNITION)202304,202405,_51,_083055,_0401005,RM1000000029L6B,202405,202409,_51,_083055,_0401005,RM100000002ME7D,202409,999999,_51,_083055,_0401005,RM100000002NTD3,; Driving Adjustment: Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT CAMERA>DRIVING ADJUSTMENT202304,202405,_51,_083055,_0401005,RM1000000029L6D,202405,202409,_51,_083055,_0401005,RM100000002ME7F,202409,999999,_51,_083055,_0401005,RM100000002NTD4,

Before measuring the resistance of the CAN bus, turn the ignition switch off and leave the vehicle for 1 minute or more without operating the key or any switches, or opening or closing the doors. After that, disconnect the cable from the negative (-) auxiliary battery terminal and leave the vehicle for 1 minute or more before measuring the resistance.

After the ignition switch is turned off, there may be a waiting time before disconnecting the negative (-) battery terminal.

Click hereGeneral>SETUP>WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL>BEFORE DISCONNECTING BATTERY202304,999999,_V1,_083041,_0402304,RM100000002AYZV,

When disconnecting and reconnecting the battery

HINT:: When disconnecting and reconnecting the battery, there is an automatic learning function that completes learning when the respective system is used.; Click hereGeneral>SETUP>WHEN DISCONNECTING OR RECONNECTING BATTERY TERMINAL>AUTOMATIC LEARNING CHART202304,202405,_V1,_083041,_0402304,RM100000002AJ9H,202405,202409,_V1,_083041,_0402304,RM100000002LTUF,202409,999999,_V1,_083041,_0402304,RM100000002NY03,

Before troubleshooting, perform CAN bus diagnostics and check that there are no malfunctions in ECUs connected to the CAN communication system.

PROCEDURE

1.CHECK FOR DTC

Check for DTCs.

Body Electrical > Front Radar Sensor > Trouble Codes: 50001 429

Body Electrical > Pre-Collision System > Trouble Codes: 50001 432

Pattern	DTC Output Part Name (Display on GTS / Output DTC)
Pattern	Millimeter Wave Radar Sensor Assembly (Front Radar Sensor)	Forward Recognition Camera (Pre-Collision System)
Pattern 1	U010487	U023587
Pattern 2	-	U023587

Result:

Result	Proceed to
Pattern 1	A
Pattern 2	B

2.CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA CAN MAIN WIRE)

6.CHECK MILLIMETER WAVE RADAR SENSOR ASSEMBLY

2.CHECK CAN MAIN WIRE (FORWARD RECOGNITION CAMERA CAN MAIN WIRE)

Disconnect the cable from the negative (-) auxiliary battery terminal.

Disconnect the P8 forward recognition camera connector.

Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection	Condition	Specified Condition
P8-6 (CANH) - P8-12 (CANL)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω
P8-6 (CANH) - G114-4 (CG)	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
P8-12 (CANL) - G114-4 (CG)	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
P8-6 (CANH) - G114-16 (BAT)	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher
P8-12 (CANL) - G114-16 (BAT)	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher

Result:

Proceed to
OK
NG

3.CHECK FORWARD RECOGNITION CAMERA

4.CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY CAN MAIN WIRE)

3.CHECK FORWARD RECOGNITION CAMERA

Replace the forward recognition camera.

Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT CAMERA>REMOVAL202304,202405,_51,_083055,_0401005,RM1000000029L6J,202405,999999,_51,_083055,_0401005,RM100000002LEFV,

Clear the DTCs.

Click hereVehicle Interior>PRE-COLLISION>PRE-COLLISION SYSTEM>DTC CHECK / CLEAR201910,999999,_58,_083101,_0401880,RM100000001JE9N,

Body Electrical > Pre-Collision System > Clear DTCs: 50002 432

Make sure that the DTC detection conditions are met.

HINT:: If the detection conditions are not met, the system cannot detect the malfunction.

Recheck for DTCs and check that no DTCs are output.

Click hereVehicle Interior>PRE-COLLISION>PRE-COLLISION SYSTEM>DTC CHECK / CLEAR201910,999999,_58,_083101,_0401880,RM100000001JE9N,

Body Electrical > Pre-Collision System > Trouble Codes: 50001 432

OK:: DTC U023587 is not output.

Result:

Proceed to
OK
NG

END (FORWARD RECOGNITION CAMERA WAS DEFECTIVE)

REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY

Click hereEngine / Hybrid System>CRUISE CONTROL>MILLIMETER WAVE RADAR SENSOR>REMOVAL202304,999999,_51,_083055,_0401007,RM1000000029L6L,

4.CHECK CAN MAIN WIRE (MILLIMETER WAVE RADAR SENSOR ASSEMBLY CAN MAIN WIRE)

Reconnect the P8 forward recognition camera connector.

Disconnect the B9 millimeter wave radar sensor assembly connector.

Measure the resistance according to the value(s) in the table below.

Standard Resistance:

Tester Connection	Condition	Specified Condition
B9-5 (CA1P) - B9-6 (CA1N)	Cable disconnected from negative (-) auxiliary battery terminal	108 to 132 Ω
B9-5 (CA1P) - G114-4 (CG)	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
B9-6 (CA1N) - G114-4 (CG)	Cable disconnected from negative (-) auxiliary battery terminal	200 Ω or higher
B9-5 (CA1P) - G114-16 (BAT)	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher
B9-6 (CA1N) - G114-16 (BAT)	Cable disconnected from negative (-) auxiliary battery terminal	6 kΩ or higher